Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints
文献类型：期刊论文
| 作者 | Diao, Shuzhen1,2,3; Liu, Gendi1,2,3; Liu, Zhuoqing1,2,3; Zhou, Lu1,2,3 ; Sun, Wei4; Wang, Yu5; Sun, Ning1,2,3
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| 刊名 | IEEE TRANSACTIONS ON FUZZY SYSTEMS
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| 出版日期 | 2024-04-01 |
| 卷号 | 32期号:4页码:2039-2051 |
| 关键词 | Parallel robots Actuators Target tracking Sun Muscles Transient analysis Safety Pneumatic artificial muscles (PAMs) multiple input constraints parallel robots prescribed-time control |
| ISSN号 | 1063-6706 |
| DOI | 10.1109/TFUZZ.2023.3341930 |
| 通讯作者 | Sun, Ning(sunn@nankai.edu.cn) |
| 英文摘要 | With the advantages of natural flexibility, large force-weight ratios, and green cleanliness, pneumatic artificial muscle (PAM) actuators that mimic biological skeletal muscles have attracted much attention. However, the inherent defects of PAMs, such as high nonlinearities, limited contraction lengths and frequencies, and multiple input constraints, pose significant challenges to the motion control of PAM-actuated parallel robots; meanwhile, most existing methods do not take into account motion constraints and working efficiency. To this end, a prescribed-time adaptive fuzzy motion control method is developed in this article, where PAM-actuated parallel robots can accurately achieve prescribed tracking performance within an allowable input pressure range. In particular, regardless of the initial values of target trajectories, the expected tracking accuracy is achieved within the prescribed time by restricting the tracking errors to the improved performance constraints; also, the motion velocities remain within the preset dynamic constraints, thereby improving the working safety and efficiency. To the best of authors' knowledge, this article presents the first adaptive fuzzy motion control method for PAM-actuated parallel robots, which can simultaneously achieve motion constraints and prescribed tracking performance. Moreover, the stability of all signals is proved through theoretical analysis, and then the effectiveness of the proposed method is fully verified by a series of hardware experiments. |
| WOS关键词 | SYSTEMS ; DRIVEN |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001196731700050 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58147]  |
| 专题 | 智能机器人系统研究 |
| 通讯作者 | Sun, Ning |
| 作者单位 | 1.Nankai Univ, Inst Robot & Automat Informat Syst, Coll Artificial Intelligence, Tianjin 300350, Peoples R China 2.Nankai Univ, TBI Ctr, Tianjin, Peoples R China 3.Nankai Univ, Inst Intelligence Technol & Robot Syst, Shenzhen Res Inst, Shenzhen 518083, Peoples R China 4.Liaocheng Univ, Sch Math Sci, Liaocheng 252000, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Diao, Shuzhen,Liu, Gendi,Liu, Zhuoqing,et al. Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints[J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS,2024,32(4):2039-2051. |
| APA | Diao, Shuzhen.,Liu, Gendi.,Liu, Zhuoqing.,Zhou, Lu.,Sun, Wei.,...&Sun, Ning.(2024).Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints.IEEE TRANSACTIONS ON FUZZY SYSTEMS,32(4),2039-2051. |
| MLA | Diao, Shuzhen,et al."Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints".IEEE TRANSACTIONS ON FUZZY SYSTEMS 32.4(2024):2039-2051. |
入库方式： OAI收割
来源：自动化研究所
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